The asymptotic behavior of adaptive systems has been a well researched topic during the last couple of decades, and it is well known that asymptotic tracking can be achieved using the Lyapunov redesign method. However, the transient behavior of the input and output signals can be very oscillatory with significant excursions [1]. There has been a great deal of effort to modify the control archit...

Abstract: Most of iterative learning control (ILC) methods requires that the relative degree of the plant is less than 2 for a linear system or the plant is passive for a non-linear system. A new model reference parametric adaptive iterative learning control using the command generator tracker (CGT) theory is proposed in this paper. The method can be applied to control a plant with a higher rel...

This paper introduces the method of ‘reference model decomposition’ as a way to improve the robustness of model reference adaptive control systems (MRACs) with respect to unmodelled dynamics with a known structure. Such unmodelled dynamics occur when some of the nominal plant dynamics are purposely neglected in the controller design with the aim of keeping the controller order low. One of the e...

Adaptive control with predictable parameter convergence has remained a challenge for several decades. In the special case of set point adaptation, extremum seeking permits predictable parameter convergence by design. This is because persistency of excitation requirements are met by the sinusoidal perturbation that is part of the basic control design. Here we present results of extremum seeking ...

This paper extends the conventional Model Reference Adaptive Control systems to fractional ones based on the theory of fractional calculus. A control law and an incommensurate fractional adaptation law are designed for the fractional plant and the fractional reference model. The stability and tracking convergence are analyzed using the frequency distributed fractional integrator model and Lyapu...

Aderivative-free, delayedweight update law is developed formodel reference adaptive control of continuous-time uncertain systems, without assuming the existence of constant ideal weights. Using a Lyapunov–Krasovskii functional it is proven that the error dynamics are uniformly ultimately bounded, without the need for modification terms in the adaptive law. Estimates for the ultimate bound and t...